The solution for the forward displacement analysis（FDA） of the general 6-6 Stewart mechanism（i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane） has been extensive...The solution for the forward displacement analysis（FDA） of the general 6-6 Stewart mechanism（i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane） has been extensively studied, but the efficiency of the solution remains to be effectively addressed. To this end, an algebraic elimination method is proposed for the FDA of the general 6-6 Stewart mechanism. The kinematic constraint equations are built using conformal geometric algebra（CGA）. The kinematic constraint equations are transformed by a substitution of variables into seven equations with seven unknown variables. According to the characteristic of anti-symmetric matrices, the aforementioned seven equations can be further transformed into seven equations with four unknown variables by a substitution of variables using the Grobner basis. Its elimination weight is increased through changing the degree of one variable, and sixteen equations with four unknown variables can be obtained using the Grobner basis. A 40th-degree univariate polynomial equation is derived by constructing a relatively small-sized 9 × 9 Sylvester resultant matrix. Finally, two numerical examples are employed to verify the proposed method. The results indicate that the proposed method can effectively improve the efficiency of solution and reduce the computational burden because of the small-sized resultant matrix.展开更多
目的探讨以老年综合评估管理模式结合岗位胜任力为导向的教学理念,对老年科规范化培训医师的应用和人才培养的效果评价。方法采用综合考核评价以及问卷调查的方法,对某院2016年10月-2018年9月36位老年科规范化培训住院医师进行调查考核...目的探讨以老年综合评估管理模式结合岗位胜任力为导向的教学理念,对老年科规范化培训医师的应用和人才培养的效果评价。方法采用综合考核评价以及问卷调查的方法,对某院2016年10月-2018年9月36位老年科规范化培训住院医师进行调查考核,并与2014年10月-2016年9月40位传统带教的规范化培训医师综合考核结果作对比。组间均数比较采用t检验。结果CGA结合岗位胜任力为导向的教学理念引入老年科住院医师规范化培训的新教学模式下,36位规范化培训医师在综合考核成绩平均分较传统带教组显著提高(91.00±1.65vs88.23±1.34,P<0.05),且其老年综合评估能力考核分值提高(8.64±1.01 vs 7.80±0.88,P<0.001),对老年综合征诊疗及出院指导掌握能力也有显著改善。结论引入CGA管理模式与岗位胜任力相结合的教学理念,有助于老年医学培训医师能全面掌握老年综合评估这一核心技能,提高老年疾病的临床综合能力,为老年患者提供个体化治疗模式,符合老年医学发展的需要。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51375059)National Hi-tech Research and Development Program of China(863 Program,Grant No.2011AA040203)+1 种基金Special Fund for Agro-scientific Research in the Public Interest of China(Grant No.201313009-06)National Key Technology R&D Program of the Ministry of Science and Technology of China(Grant No.2013BAD17B06)
文摘The solution for the forward displacement analysis（FDA） of the general 6-6 Stewart mechanism（i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane） has been extensively studied, but the efficiency of the solution remains to be effectively addressed. To this end, an algebraic elimination method is proposed for the FDA of the general 6-6 Stewart mechanism. The kinematic constraint equations are built using conformal geometric algebra（CGA）. The kinematic constraint equations are transformed by a substitution of variables into seven equations with seven unknown variables. According to the characteristic of anti-symmetric matrices, the aforementioned seven equations can be further transformed into seven equations with four unknown variables by a substitution of variables using the Grobner basis. Its elimination weight is increased through changing the degree of one variable, and sixteen equations with four unknown variables can be obtained using the Grobner basis. A 40th-degree univariate polynomial equation is derived by constructing a relatively small-sized 9 × 9 Sylvester resultant matrix. Finally, two numerical examples are employed to verify the proposed method. The results indicate that the proposed method can effectively improve the efficiency of solution and reduce the computational burden because of the small-sized resultant matrix.
文摘目的探讨以老年综合评估管理模式结合岗位胜任力为导向的教学理念,对老年科规范化培训医师的应用和人才培养的效果评价。方法采用综合考核评价以及问卷调查的方法,对某院2016年10月-2018年9月36位老年科规范化培训住院医师进行调查考核,并与2014年10月-2016年9月40位传统带教的规范化培训医师综合考核结果作对比。组间均数比较采用t检验。结果CGA结合岗位胜任力为导向的教学理念引入老年科住院医师规范化培训的新教学模式下,36位规范化培训医师在综合考核成绩平均分较传统带教组显著提高(91.00±1.65vs88.23±1.34,P<0.05),且其老年综合评估能力考核分值提高(8.64±1.01 vs 7.80±0.88,P<0.001),对老年综合征诊疗及出院指导掌握能力也有显著改善。结论引入CGA管理模式与岗位胜任力相结合的教学理念,有助于老年医学培训医师能全面掌握老年综合评估这一核心技能,提高老年疾病的临床综合能力,为老年患者提供个体化治疗模式,符合老年医学发展的需要。
